EP3816651B1 - Procédé utilisant une bande ultra large (uwb) et un système uwb pour déterminer l'emplacement d'un objet à l'intérieur d'un environnement de culture de plantes - Google Patents

Procédé utilisant une bande ultra large (uwb) et un système uwb pour déterminer l'emplacement d'un objet à l'intérieur d'un environnement de culture de plantes Download PDF

Info

Publication number
EP3816651B1
EP3816651B1 EP20204697.5A EP20204697A EP3816651B1 EP 3816651 B1 EP3816651 B1 EP 3816651B1 EP 20204697 A EP20204697 A EP 20204697A EP 3816651 B1 EP3816651 B1 EP 3816651B1
Authority
EP
European Patent Office
Prior art keywords
plants
plant
uwb
location
processing unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20204697.5A
Other languages
German (de)
English (en)
Other versions
EP3816651A1 (fr
Inventor
Adrianus Noël Maria de Koning
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ridder Holding Harderwijk BV
Original Assignee
Ridder Holding Harderwijk BV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ridder Holding Harderwijk BV filed Critical Ridder Holding Harderwijk BV
Publication of EP3816651A1 publication Critical patent/EP3816651A1/fr
Application granted granted Critical
Publication of EP3816651B1 publication Critical patent/EP3816651B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/7163—Spread spectrum techniques using impulse radio
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0221—Receivers
    • G01S5/02213—Receivers arranged in a network for determining the position of a transmitter
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • A01G31/02—Special apparatus therefor
    • A01G31/04—Hydroponic culture on conveyors
    • A01G31/042—Hydroponic culture on conveyors with containers travelling on a belt or the like, or conveyed by chains
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • A01G9/143—Equipment for handling produce in greenhouses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/02—Indoor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/09—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications for tracking people
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

Definitions

  • the invention relates to a method using ultra wide band (UWB) communication for determining a location of an object inside a plant growing environment, such as a greenhouse or an indoor growing facility.
  • UWB ultra wide band
  • CN10945143 5A discloses a method, a system and a terminal for positioning a working machine in a greenhouse.
  • the method comprises the steps of determining relative position information of each of a first base station, a second base station and a third base station, and a label arranged on the working machine; determining an X axis and a Y axis according to a moving range edge line of the working machine so as to determine an electronic coordinate system; and according to determined coordinate positions of the first base station, the second base station and the third base station in the electronic coordinate system and the relative position information of each base station and the label, determining the position of the working machine in the greenhouse.
  • the relative position information between each base station and the label arranged on the working machine is determined; and the coordinates of each base station in the coordinate system and the actual position of each base station in the greenhouse are determined, so that the accurate position of the working machine in the greenhouse can be determined.
  • the communication between each base stationand the label is performed by an ultra-wideband pulse; and the ultra-wideband pulse has an extremely strong penetration capability, and the positioning precision can reach the centimeter level, so that the positioning accuracy is improved.
  • a positioning module comprises a tag, a positioning sensor and a reader, wherein a positioning tag is arranged on a movable workbench, the positioning sensor comprises a plurality of positioning sensors which are respectively arranged at corner positions of a greenhouse, the tag is used for sending ultra-wideband pulse signals to the positioning sensor; a plurality of communication modules are arranged; the reader analyzes the ultra-wideband pulse signals received by the positioning sensor and sends the ultra-wideband pulse signals transmitted by the tag and an arrival time point of the ultra-wideband pulse signals to the controller in a form of a data packet; and the controller receives the data packet sent by the reader and controls the movable workbench corresponding to the tag carried by a ultra-wideband pulse in the data packet.
  • the controller identifies the tag corresponding to a signal according to a received signal and controls the movable workbench corresponding to the tag.
  • US 2006/0213167A1 discloses an agricultural robot system and method of harvesting, pruning, culling, weeding, measuring and managing of agricultural crops.
  • Uses autonomous and semi-autonomous robot(s) comprising machine-vision using cameras that identify and locate the fruit on each tree, points on a vine to prune, etc., or may be utilized in measuring agricultural parameters or aid in managing agricultural resources.
  • the cameras may be coupled with an arm or other implement to allow views from inside the plant when performing the desired agricultural function.
  • a robot moves through a field first to "map" the plant locations, number and size of fruit and approximate positions of fruit or map the cordons and canes of grape vines. Once the map is complete, a robot or server can create an action plan that a robot may implement.
  • An action plan may comprise operations and data specifying the agricultural function to perform.
  • WO 2013/074536 A1 discloses a measurer for crop yield per location.
  • the crop yield measurer includes a crop collector for a field of crops.
  • the crop collector includes a navigation satellite system location determiner to determine location information at periodic times during a crop collection process.
  • the crop collector also includes a weighing mechanism to determine a weight of collected crops at the periodic times during the crop collection process.
  • a database is used for storing the location information and the weight at the periodic times during the crop collection process.
  • a crop yield overview generator is then utilized to provide a user accessible crop yield per location overview for the field of crops based on the information stored at the database.
  • EP 2 866 528 A1 Discloses a method for controlling an illumination system based on the position of a mobile electronic device.
  • the illumination system intended to control the growth of a plurality of plants being arranged in a controlled environment and subject to light emitted by at least one artificial lighting arrangement.
  • location determination can be achieved with the method as described herein, wherein the object is provided with an UWB transmitter; the plant growing environment is provided with multiple UWB receivers; and the receivers are connected to a processing unit, the method comprising: a) broadcasting a message from the object over UWB using the transmitter; b) receiving the message at at least some of the receivers; and c) determining a location estimate for the object through lateration and/or angulation, by the processing unit.
  • the transmitter may be provided in a physical device, often named a tag, which is attached to the object.
  • the receivers may be provided in physical devices called anchors, which may be placed at fixed positions in the plant growing environment.
  • the message sent from the object may comprise any one or more of the following: a timestamp, information with which the transmitter or the tag to which it belongs may be identified, and information identifying the object for which the transmitter is provided.
  • the timestamp may be used for trilateration and/or triangulation.
  • trilateration and triangulation are referred to specifically, the method is not limited to the use of exactly three measurements. More than three or less than three measurements may be used. Consequently, the location determination may take place through angulateration, specifically through triangulateration.
  • the location estimate for the object may be used in several advantageous ways, depending on what type of object is provided with the UWB transmitter.
  • the processing unit associates the object with a plant or group of plants, by: comparing the location estimate with predetermined locations of plants or groups of plants; and associating the object with the plant or group of plants of which the predetermined location is closest to the location estimate.
  • association By associating the object with a plant or group of plants, a relation between the two may be recorded. "Associating” may therefore herein mean concluding that the object interacts with that specific plant or plants of that specific group of plants.
  • the association may be stored in a database provided therefore, e.g. as an entry therein.
  • the association may further be stored together with information on the object and/or the plant or group of plants and/or the time at which the association was made.
  • the association may be used as information on what operations are performed on each plant or group of plant.
  • the operations performed on the plant or group of plants are an important part of the plant growing process. Logging which operations are done on a plant or group of plants, for how long and at what point in time, facilitates significant improvements in supply chain tracking, work logging and/or growth process research.
  • the above described method may be used for registering work performed in a plant growing environment, comprising:
  • the recorded information may then be used to determine e.g. how much to pay the worker, if a worker has put in enough hours over a certain period, etc.
  • An object may be no longer associated with the same plant or group of plants if it is associated with a new plant or group of plants, or if the object moves away from said plant or group of plants. It may therefore be useful to no longer associate the object with the plant or group of plants if a mutual distance exceeds a predetermined threshold, and/or if the location estimate for the object corresponds to a predetermined location other than that of the plant or group of plants, such as a (main) pathway in the plant growing environment. Consequently, no longer associating the object with a plant or group of plants may be based on a comparison of the location estimate to a predetermined location of e.g. the main pathway.
  • groups of plants are distributed in rows of plants, and the object is associated with a row of plants which is closest to the location estimate.
  • the layout of the plant growing environment i.e. the organization of plants in rows, is used to simplify association of the object with the group of plants.
  • Associating the object with the row of plants which is closest to the location estimate may be achieved by defining a rectangular area around each row, so that each rectangular area contains exactly one row along a centreline of each rectangle and no rectangular areas overlap.
  • the row closest to the to the location estimate may than be determined to be the row in the same rectangle as the location estimate.
  • coordinates of the edges of the rectangles may be compared to the coordinates of the location estimate.
  • the object may be associated with two rows of plants separated by a sub-pathway, the two rows of plants being the two rows closest to the location estimate.
  • This may be achieved by defining rectangles having edges along each row of plants, wherein the rectangles have ends corresponding to ends of the rows of plants, and by determining in which rectangle the location estimate is by comparing coordinates of the rectangle's edges with the coordinates of the location estimate.
  • associating the object with a row plants by determining at which row the object enters a sub-pathway from the main pathway. This could be achieved by comparing the coordinates of the location estimate to predetermined coordinates of the main pathway to conclude the object is in the main pathway at a first point in time if the coordinates match, and then concluding the object is in a sub-pathway by comparing the coordinates of the location estimate with predefined coordinates of the sub-pathway if the coordinates match.
  • the object can then be associated with the row or rows of plants running along the sub-pathway.
  • the object may no longer be associated with the row(s) of plants along the respective sub pathway.
  • An association of the object with a single plant within the row of plants may be achieved by dividing the closest row of plants into several segments, each of which corresponds to a length of the row taken up by a single plant and is associated with a single plant; and associating the object with a segment in the row which is closest to the location estimate.
  • each plant along the row may be estimated by dividing the row of plants into segments which correspond to a length of the row taken up by a single plant. Consequently, each segment corresponds to a single plant, so that associating the object with a segment equals associating the object with a single plant.
  • information on the row and on the space taken up by the plant along the length of the row are required for associating the object with a single plant, instead of the location of every plant itself.
  • the space taken up by a plant along the length of the row may correspond to the average width of a plant including the interspace between consecutive plants in the same row.
  • groups of plants may be distributed in sections of e.g. rectangular shape in plan view, wherein the object is associated with the section which is closest to the location estimate.
  • Such sections may be used to treat plants in groups which are easy to identify. Furthermore, the sections, e.g. rectangular in shape, may very well be handled or treated together based on their location. Treating the plants in sections may allow a grower to distinguish between plants that e.g. get a lot of sun versus plants that get relatively little sun, without having to distinguish on a per plant basis. Further, grouping plants into sections may offer efficiency gains when treating the plants, for instance by subjecting all plants within a section to a same or similar operation such as harvesting, removing leaves, applying pesticides, etc.
  • each group of plants may be placed on a platform, and the object is associated with the platform which is closest to the location estimate.
  • the object By associating the object with a platform, the object can indirectly be associated with the plants on the platform. Associating the object with a group of plants via a platform may offer the additional advantage of not having to know the location of each individual plant. This is especially useful for plants on a platform, which are often relatively small in size but relatively large in number.
  • the location of the platform may be determined similar to the location of the object, i.e. via the above-described UWB method.
  • the plants and/or rows of plants and/or sections of plants may have predetermined locations, possibly obtained by an UWB method as described above.
  • the predetermined locations may be obtained via lateration and/or triangulation over UWB.
  • the above described method may be used to obtain the predetermined locations, especially with the characteristics explained herein in any arbitrary combination.
  • the object is an agent, such as a human operator or robot, and the method further comprises a step e) of determining, by the processing unit, an operation performed on the plant or group of plants by the agent.
  • the method may further include registering when and/or for how long the operation is being performed.
  • step e) may comprise: retrieving a preplanned operation to be performed from a database; and determining that said retrieved, preplanned operation on the plant or group of plants is being performed.
  • Retrieving the operation from a database with preplanned operations may provide a reliable way of determining which operation is carried out, as all or almost all operations on plants may be preplanned and registered in the database.
  • the preplanned operation may be an operation preplanned to be performed by the agent. In that case, it may be determined that the operation preplanned for the agent to whom the UWB transmitter is provided is performed on the plant associated with the agent via the location determination.
  • the preplanned operation may be a preplanned operation to be performed on the plant or group of plants. In that case, it may be determined that the operation preplanned to be performed on the plant or group of plants associated with the UWB transmitter of the agent is performed by the agent.
  • step e) of the method may comprise: comparing the location estimate of the agent to the location of an operation specific tool; and determining that the operation specific to the tool is being performed if the locations of the agent and the tool correspond within a predetermined margin.
  • Such a method may allow determination of the operation performed without use of a database with preplanned operations.
  • a database may not always be available, complete and/or accurate, so that determining the operation via the location of an operation specific tool may prove helpful.
  • the location of the tool may be determined in any suitable way; it is however preferred the location is determined using the above-described UWB method, with any arbitrary combination of characteristics described hereabove.
  • the predetermined margin may be a margin in location and/or a margin in time. For example, it may be determined that an operation specific to the tool is being performed when the agent's location is within a predetermined distance from the tool's location. It is also possible to determine that an operation specific to the tool is being performed if the locations of the tool and the agent correspond sufficiently within a predetermined timeframe around the time of determining the location of the agent.
  • the operation specific tool may be a transport trolley or cart for collecting harvest, wherein the operation specific to the tool is harvesting.
  • an agent is harvesting if its location is associated with a plant or group of plants at the first point in time, and with the transport trolley or cart at the second point in time. As the agent may move between the plant or group of plants and the transport trolley or cart several times, the second point in time may lie before or after the first point in time.
  • the transport trolley or cart is equipped with a weighing unit for weighing the amount of harvest transported by the transport trolley or cart, wherein a weight measured by the weighing unit is associated with the plant or group of plants associated with the harvesting operation.
  • the weighing unit may be connected with the processing unit for providing the processing unit with a signal indicated the weighing result.
  • Associating the amount of harvest with a plant or group of plants has the advantage that further analysis is possible on a relation between certain operations performed and the amount of harvest a plant or group of plants produces. Additionally or alternatively, the amount of harvest may be used to determine if a human operator has met his or her quota.
  • the location estimate may be used advantageously for indicating the presence of a condition.
  • the method may comprise step f) of receiving an input, by the processing unit, indicating a condition by the agent, and associating, by the processing unit, the condition with the location estimate of the agent.
  • Such a method may be particularly advantageous when the agent is scouting, i.e. checking the plant growing environment for specific conditions that require attention.
  • the association between the condition and the location may be registered and/or saved, so that it may be retrieved later on. If used, planning software may then schedule an operation to be performed to deal with the registered condition.
  • the input may be provided to the processing unit by the agent, i.e. via an interface such as a user interface or a communications channel.
  • the condition may for instance include environment conditions, such as temperature, moisture levels, etc., or a condition of the plant growing environment requiring maintenance, such as a broken window, damaged screening, etc., a plant condition or any other condition relevant for growing plants.
  • environment conditions such as temperature, moisture levels, etc.
  • a condition of the plant growing environment requiring maintenance such as a broken window, damaged screening, etc., a plant condition or any other condition relevant for growing plants.
  • step f) comprises associating, by the processing unit, the condition or the characteristic with the plant or group of plants associated with the location estimate.
  • the agent may be able to register conditions for a plant or group of plants relatively quickly, since no input indicating to which plant or group of plants the conditions applies is necessary. This may also reduce the amount of errors made when manually entering to which plant or group of plants the condition pertains.
  • the plant characteristic may be any noticeable and relevant feature of the plant or group of plants, such as colour, stem thickness, amount or presence of fruits, ripeness of fruits, etc.
  • An object may be one of the following: a human operator or a robot.
  • the object is an imaging device
  • its location estimate possibly in combination with the location estimates of other objects, may be used to determine which objects are seen by the imaging device.
  • the object is further provided with a UWB receiver; and the plant growing environment is further provided with at least one UWB transmitter connected to the processing unit, the method further comprising a step g) of sending a message to the UWB receiver via the at least one transmitter of the plant growing environment.
  • the additional receiver and sender allow two-way communication between the processing unit and the object.
  • Two-way communication may be used in a variety of ways.
  • the message may comprise instructions for the human operator.
  • the message may comprise information on whether the human operator works fast enough, for instance based on a harvested amount and a pre-set target, or information on whether the human operator can take a break from working.
  • the object may further be provided with one or more lights, possibly of different colour, the status of which is changed on the basis of the message for relaying the message's contents to the user.
  • a light may shine green if the human operator has harvested enough to achieve his personal target, or a light may shine yellow if it is time for the human operator to take a break.
  • the two-way communication may be used to instruct the robot to perform certain tasks.
  • the UWB receiver of the object may be connected to the robot for communication therewith.
  • the processing unit is connected to an existing work registration system, so as to receive instructions from the work registration system.
  • the processing unit may replace an existing work registration system.
  • the invention also relates to an ultra wide band (UWB) communication system for determining a location of an object inside a plant growing environment, such as a greenhouse or an indoor growing facility, the system comprising: a tag provided with an UWB transmitter, which is configured to be attached to or carried by the object; multiple anchors, provided with UWB receivers, which are configured to be installed in the plant growing environment; and a processing unit, to which the anchors are connected, wherein: the tag is configured to broadcast a message using the UWB transmitter; the anchors are configured to receive messages sent by the UWB transmitter via their respective UWB receivers; and the processing unit is configured to determine a location estimate for the object through lateration and/or triangulation.
  • UWB ultra wide band
  • the system is configured to be used for performing the method as claimed, and may therefore presents the above-described characteristics in any arbitrary combination, and offer the advantages associated therewith.
  • the invention relates to a plant growing environment, such as a greenhouse or an indoor growing facility, which comprises a system as described above.
  • the anchors may advantageously be installed at various spaced apart locations. In that way the entire plant growing environment may be covered by the UWB communication system. By suitably positioning the anchors interference due to e.g. structural elements of the plant growing environment may be minimized.
  • the anchors may also be beneficial for the anchors to be installed at different heights.
  • the anchors When the plant growing environment is a greenhouse including a structural frame and transparent covering, the anchors may be installed on the structural frame. In this way the plant growing environment is hardly affected by the installation of the system.
  • the anchors When the processing unit of the system is arranged at a remote location it may be advantageous for the anchors to be connected to the processing unit via a wireless connection. In this way no additional wiring is required for the installation of the system.
  • Figure 1 shows a greenhouse 1 with a number of plants 2 therein.
  • the greenhouse 1 comprises a main pathway 3, which divides the greenhouse 1 into two halves. Branching off from the main pathway 3 are several sub-pathways 4.
  • the plants 2 are placed in rows of plants 5 between the sub-pathways 4.
  • the plants 2 produce crops 6, e.g. tomatoes.
  • crops 6 are harvested by a human operator 7.
  • the human operator 7 collects harvested crops 6 in a transport trolley 8.
  • the greenhouse 1 is provided with an UWB system for determining a location of objects inside of the greenhouse 1. Accordingly, the human operator 7 is provided with a first tag 9, and the transport trolley 8 is provided with a second tag 10.
  • the tags 9, 10 each comprise an UWB transmitter.
  • the greenhouse 1 comprises multiple anchors 11 mounted at several locations throughout the greenhouse 1.
  • the anchors 11 are provided with UWB receivers.As shown in figure 1 , the anchors 11 may be located both along the walls of the greenhouse 1 and at central locations, e.g. in the main pathway 3.
  • the anchors 11 may also be located at different heights in the greenhouse 1.
  • the position of each anchor 11 may be selected so as to minimize interference due to e.g. structural elements of the greenhouse 1 and to maximize coverage of the interior of the greenhouse 1. For reasons of simplicity only one anchor 11 is shown in figure 2 , the anchor 11 being installed on a sidewall at some distance from the ground.
  • the system further includes a processing unit 12.
  • the anchors 11 are connected to the processing unit 12 via wired connections 13.
  • wireless connections could be used, in particular if the processing unit 12 would be arranged at a remote location.
  • FIG 3 some steps of an exemplary embodiment of a method 50 according to the invention are described.
  • the method 50 is performed using an UWB system as described with reference to figures 1 and 2 .
  • the human operator 7 and the transport trolley 8 are provided with tags 9, 10 which include UWB transmitters.
  • a message is broadcast from the object, such as the human operator 7 or the transport trolley 8, using the UWB transmitter in the tags 9, 10 respectively.
  • the greenhouse 1 is provided with anchors 11 which include UWB receivers.
  • the message sent by the UWB transmitter of the object 7, 8 (in the first step 51) is received in a second step 52 by the UWB receivers of at least some of the anchors 11, which are connected to processor 12.
  • the processor 12 determines a location estimate for the object 7, 8 through lateration and/or angulation. As illustrated in figure 7 , the processor 12 may determine the signal strength of a message received at each of three anchors 11-1, 11-2 and 11-3, respectively, and from these signals strengths the processor 12 may determine the distances r1, r2, r3 from the tag 9 or 10 to these anchors. Together, these three distances r1, r2, r3 define an estimated location for the tag 9, 10.
  • the determination of the location estimate (third step 53) is followed by a fourth step 54 performed by the processor 12 of associating the object 7, 8 with a plant 2 or group of plants 2.
  • a fifth step 55 follows of determining, by the processor 12, an operation performed on the plant 2 or group of plants 2.
  • Figures 4A - 4D show several methods 154, 254, 354, 454 of associating the object 7, 8 with a plant 2 or group of plants 2.
  • One method 154 shown in figure 4A comprises a first step 154-1 of comparing the location estimate with predetermined locations of plants 2 or groups of plants 2, followed by a second step 154-2 of associating the object 7, 8 with the plant 2 or group of plants 2 of which the predetermined location is closest to the location estimate.
  • the object is a human operator 7
  • FIG. 4B Another method 254 of associating the object 7, 8 with a plant 2 or group of plants 2, is shown in figure 4B .
  • the method 254 is applied to a greenhouse 1 wherein plants are distributed, in other words positioned, in rows 5.
  • the object 7, 8 is associated with a row 5 of plants 2 by selecting the row 5 closest to the location estimate for the object 7, 8.
  • the selected row 5 is divided in several segments, each of which corresponds to a length of the row 5 taken up by a single plant 2. Each segment is associated with a single plant 2.
  • the object is subsequently associated with a segment in the selected row 5 which is closest to the location estimate of the object 7, 8 in a third step 254-3.
  • the object 7, 8 When plants 2 are placed on a platform, such as a movable platform, the object 7, 8 may be associated with a group of plants 2 on a platform according to another method 454 shown in figure 4D , comprising a first step 454-1 of associating the object 7, 8 with a platform which is closest to the location estimate of the object 7, 8.
  • the methods 154, 254, 354, 454 of figures 4A - 4D may be used to derive which human operator 7 works on which plant 2 or group of plants 2 for how long and at what moment in time. Specifically, when the object is a human operator 7, it may be concluded that the human operator 7 works on a plant 2 or group of plants 2 when the human operator 7 is associated with the plant 2 or group of plants 2. Therefore, the methods outlined above may be part of a labour-tracking system which determines wages to pay a human operator 7 based on the amount of work done. When the object is e.g. a robot, labour tracking may not be necessary for calculating wages, but may nevertheless be useful for supply chain logging or growth process research.
  • Determining an operation performed on the plant 2 or group of plants 2, as introduced in the fifth step 55 of the method 50 of figure 3 can be performed by the methods 555 and 655 shown in figures 5A and 5B .
  • the object is an agent, such as a human operator 7 or a robot, which is capable of performing operations on a plant 2 or group of plants 2.
  • Figure 5A shows that in a first step 555-1 a preplanned operation, which is to be performed, is retrieved from a database.
  • a preplanned operation which is to be performed, is retrieved from a database.
  • the preplanned operation can be an operation planned to be performed by an agent such as a human operator 7 or robot.
  • the database from which the preplanned operation is retrieved may be referred to as a schedule database.
  • the preplanned operation can be an operation planned to be performed on the plant 2 or group of plants 2.
  • a further method 655 of determining the operation performed on a plant 2 or group of plants 2 is shown in figure 5B .
  • a location estimate for the agent is compared to a location of an operation specific tool.
  • the operation specific tool is a transport trolley 8 used specifically for the operation of harvesting.
  • a second step 655-2 it is determined that the operation specific to the tool 7, in this example harvesting as a specific operation of the transport trolley 8, is being performed if the location estimate for the agent and the tool correspond within a predetermined margin.
  • the human operator 7 is close to the transport trolley 8 at a first point in time, for instance after spending time close to a plant 2, it is concluded the human operator 7 has been harvesting from the plant 2.
  • the predetermined margin allows a predetermined deviation in space and/or time.
  • the method further comprises two optional steps 655-3 and 655-4.
  • the first optional step 655-3 can be performed when the transport trolley 7 is equipped with a weighing unit for weighing the amount of harvest transported by the transport trolley 7. Accordingly, a weight measurement by the weighing unit is associated with the plant 2 or group of plants 2 that is associated with the operation of harvesting in the first optional step 655-3. Since the weight measurement indicates an amount of crop 6 harvested from the plant 2 or group of plants 2 by the worker, it may be used for labour tracking and/or growth process research.
  • the second optional step 655-2 may be performed when the object, in the example a human operator 7, is provided with an UWB receiver and the greenhouse 1 with an UWB transmitter connected to the processing unit 12.
  • a message is sent to the UWB receiver of the human operator 7 via the at least one transmitter of the greenhouse 1.
  • the message comprises information on the amount of crop 6 the human operator 7 has harvested.
  • the information comprised in the message may indicate whether or not the human operator 7 has made his or her quota, or has harvested sufficiently for earning a bonus.
  • a fourth step 756 of the method 750 of figure 6 comprises receiving an input indicating a condition, and associating the condition with the location estimate.
  • the object may be a human operator 7 performing the operation of scouting. Scouting comprises searching the plant growing environment for conditions in need of attention.
  • the human operator 7 may at a first location notice a broken window in a greenhouse 1. Using a user interface, the human operator 7 may indicate the condition.
  • condition is then received by the processor 12 in the fourth step 756 of the method 750 of figure 6 , and associated with the location estimate of the human operator 7.
  • the association between condition and location estimate may be stored. When at a later point in time maintenance work is scheduled, the association may be retrieved.
  • the object is associated with a plant 2 or group of plants 2.
  • the association with a plant 2 or group of plants 2 may be conducted according to the above described methods.
  • the object is the human operator 7, but a robot could also be used to perform scouting operations.
  • the condition indicated by the input received by the processor is then associated with the plant 2 or group of plants 2.
  • the condition is a plant condition, such as an illness or plague, or a plant characteristic.
  • the human operator 7 may indicate the presence of fruits using the user interface.
  • the presence of fruit is associated with a plant 2 or group of plants 2. This information may be stored and used later, for instance in growth process research or work scheduling.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Claims (15)

  1. Procédé (50, 750) utilisant une communication à bande ultra large (UWB) destinée à déterminer un emplacement d'un objet à l'intérieur d'un environnement de culture de plante, tel qu'une serre (1) ou une installation de culture intérieure, dans lequel:
    - l'objet est un agent, tel qu'un opérateur humain (7) ou un robot, pourvu d'un émetteur UWB;
    - l'environnement de culture de plante est pourvu de multiples récepteurs UWB ; et
    - les récepteurs sont connectés à une unité de traitement (12),
    le procédé (50, 750) comprenant:
    a) la diffusion (51, 751) d'un message provenant de l'objet sur UWB à l'aide de l'émetteur;
    b) la réception (52, 752) du message au niveau d'au moins certains des récepteurs; et
    c) la détermination (53, 753) d'une estimation d'emplacement pour l'objet par la latération et/ou l'angulation, par l'unité de traitement (12), caractérisé en ce que le procédé (50, 750) comprend en outre:
    d) l'association de l'objet à une plante (2) ou un groupe de plantes (2), par l'unité de traitement (12), par:
    - la comparaison (154-1) de l'estimation d'emplacement à des emplacements prédéfinis de plantes (2) ou de groupes de plantes (2); et
    - l'association (154-2) de l'objet à la plante (2) ou groupe de plantes (2) dont l'emplacement prédéfini est le plus proche de l'estimation de l'emplacement; et
    e) la détermination (55), par l'unité de traitement (12), d'une opération effectuée sur la plante (2) ou le groupe de plantes (2) par l'agent, dans lequel l'étape e) comprend:
    - la récupération (555-1) d'une opération préplanifiée à effectuer à partir d'une base de données; et
    - la détermination (555-2) que ledit fonctionnement préplanifié récupéré sur la plante (2) ou groupe de plantes (2) est effectué.
  2. Procédé (50, 750) utilisant une communication à bande ultra large (UWB) destinée à déterminer un emplacement d'un objet à l'intérieur d'un environnement de culture de plante, tel qu'une serre (1) ou une installation de culture intérieure, dans lequel:
    - l'objet est un agent, tel qu'un opérateur humain (7) ou un robot, pourvu d'un émetteur UWB;
    - l'environnement de culture de plante est pourvu de multiples récepteurs UWB ; et
    - les récepteurs sont connectés à une unité de traitement (12),
    le procédé (50, 750) comprenant:
    a) la diffusion (51, 751) d'un message provenant de l'objet sur UWB à l'aide de l'émetteur;
    b) la réception (52, 752) du message au niveau d'au moins certains des récepteurs; et
    c) la détermination (53, 753) d'une estimation d'emplacement pour l'objet par la latération et/ou l'angulation, par l'unité de traitement (12), caractérisé en ce que le procédé (50, 750) comprend en outre:
    d) l'association de l'objet à une plante (2) ou un groupe de plantes (2), par l'unité de traitement (12), par:
    - la comparaison de l'estimation d'emplacement à des emplacements prédéfinis de plantes (2) ou groupes de plantes (2); et
    - l'association de l'objet à la plante (2) ou au groupe de plantes (2) dont l'emplacement prédéfini est le plus proche de l'estimation de l'emplacement; et
    e) la détermination, par l'unité de traitement (12), d'une opération effectuée sur la plante (2) ou groupe de plantes (2) par l'agent, dans lequel l'étape e) comprend:
    - la comparaison (655-1) de l'estimation de l'emplacement de l'agent à l'emplacement d'un outil spécifique d'opération; et
    - la détermination (655-2) que l'opération spécifique à l'outil est effectuée si les emplacements de l'agent et l'outil correspondent à l'intérieur d'une marge prédéfinie.
  3. Procédé (50, 750) selon la revendication 1 ou 2, dans lequel:
    - des groupes de plantes (2) sont répartis dans des rangées (5) de plantes (2) et l'objet est associé (254-1) à une rangée de plantes (2) qui est la plus proche de l'estimation de l'emplacement, dans lequel de préférence l'objet est associé à une plante unique à l'intérieur de la rangée de plantes (2) par:
    - la division (254-2) de la rangée la plus proche de plantes (2) en plusieurs segments, chacun correspondent à une longueur de la rangée prise par une plante unique (2) et est associé à une plante unique (2); et
    - l'association (254-3) de l'objet à un segment dans la rangée qui est la plus proche de l'estimation de l'emplacement; ou
    - des groupes de plantes (2) sont distribués en sections, par exemple de forme rectangulaire en vue en plan, dans lequel l'objet est associé (354-1) à la section qui est la plus proche de l'estimation de l'emplacement; ou
    - chaque groupe de plantes (2) est placé sur une plateforme et l'objet est associé (454-1) à la plateforme qui est la plus proche de l'estimation de l'emplacement.
  4. Procédé (50, 750) selon la revendication 3, dans lequel au moins certains des emplacements prédéfinis sont obtenus par l'intermédiaire de la latération et/ou de la triangulation sur l'UWB.
  5. Procédé (50, 750) selon la revendication 1 ou les revendications 3 à 4 dépendantes de de la revendication 1, dans lequel:
    - l'opération préplanifiée est une opération préplanifiée à effectuer par l'agent;
  6. Procédé (50, 750) selon la revendication 1 ou les revendications 3 à 4 dépendantes de la revendication 1, dans lequel:
    - l'opération préplanifiée est une opération préplanifiée à effectuer sur la plante (2) ou le groupe de plantes (2).
  7. Procédé (50, 750) selon la revendication 2 ou les revendications 3 à 4 dépendantes de la revendication 2, dans lequel:
    l'outil spécifique à un fonctionnement est un chariot de transport (8) ou un moyen de transport destiné à collecter la récolte, dans lequel l'opération spécifique à l'outil est la récolte.
  8. Procédé (50, 750) selon la revendication 7, dans lequel le chariot de transport (8) ou le moyen de transport est équipé d'une unité de pesage destiné à peser la quantité de récolte transportée par le chariot de transport (8) ou le moyen de transport, dans lequel un poids mesuré par l'unité de pesage est associé (655-3) à la plante (2) ou au groupe de plantes (2) associées à l'opération de récolte.
  9. Procédé (50, 750) selon l'une quelconque des revendications précédentes, le procédé (50, 750) comprenant en outre:
    f) la réception (756) d'une entrée, par l'unité de traitement (12), indiquant une condition par l'agent et l'association, par l'unité de traitement (12), de l'état à l'estimation de l'emplacement de l'agent.
  10. Procédé (50, 750) selon la revendication 9, dans lequel la condition est une condition de plante, telle qu'une maladie ou une peste, ou une caractéristique de plante et dans lequel l'étape f) comprend:
    - l'association (757), par l'unité de traitement (12), de l'état ou de la caractéristique à la plante (2) ou au groupe de plantes (2) associé à l'estimation de l'emplacement.
  11. Procédé (50, 750) selon l'une quelconque des revendications précédentes, dans lequel :
    - l'objet est en outre pourvu d'un récepteur UWB ; et
    - l'environnement de culture de plante est en outre pourvu d'au moins un émetteur UWB connecté à l'unité de traitement (12),
    le procédé (50, 750) comprenant en outre:
    g) l'envoi d'un message au récepteur UWB par l'intermédiaire dudit au moins un émetteur de l'environnement de culture de plante.
  12. Système de communication à ultra large bande (UWB) destiné à déterminer un emplacement d'un objet à l'intérieur d'un environnement de culture de plantes, tel qu'une serre (1) ou une installation de culture intérieure, le système comprenant:
    - une étiquette (9, 10) pourvue d'un émetteur UWB, qui est conçue pour être fixée à ou portée par l'objet;
    - des ancrages multiples (11), pourvus de récepteurs UWB, qui sont conçus pour être installés dans l'environnement de culture de plante; et
    - une unité de traitement (12), à laquelle les ancrages (11) sont connectées, dans lequel:
    - l'étiquette (9, 10) est conçue pour diffuser un message à l'aide de l'émetteur UWB;
    - les ancrages (11) sont conçues pour recevoir des messages envoyés par l'émetteur UWB par l'intermédiaire de leurs récepteurs UWB respectifs; et
    - l'unité de traitement (12) est conçue pour déterminer une estimation d'emplacement pour l'objet par la latération et/ou la triangulation,
    caractérisé en ce que le système est conçu pour effectuer le procédé (50, 750) selon l'une quelconque des revendications 1 à 11.
  13. Environnement de culture de plantes, tel qu'une serre (1) ou une installation de culture intérieure, comprenant un système selon la revendication 12, dans lequel de préférence:
    - les ancrages (11) sont installés à divers emplacements espacés; et/ou
    - les ancrages (11) sont installés à des hauteurs différentes.
  14. Environnement de culture de plantes selon l'une quelconque de la revendication 13, dans lequel l'environnement de culture de plantes est une serre (1) comportant un cadre structural et un revêtement transparent et dans lequel les ancrages (11) sont installés sur le cadre structural.
  15. Environnement de culture de plantes selon l'une quelconque des revendications 13 à 14, dans lequel l'unité de traitement (12) est agencée à un emplacement distant et dans lequel les ancrages (11) sont connectées à l'unité de traitement (12) par l'intermédiaire d'une connexion sans fil.
EP20204697.5A 2019-10-31 2020-10-29 Procédé utilisant une bande ultra large (uwb) et un système uwb pour déterminer l'emplacement d'un objet à l'intérieur d'un environnement de culture de plantes Active EP3816651B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL2024132A NL2024132B1 (en) 2019-10-31 2019-10-31 Method using ultra wide band (uwb) and uwb system for determining a location of an object inside a plant growing environment

Publications (2)

Publication Number Publication Date
EP3816651A1 EP3816651A1 (fr) 2021-05-05
EP3816651B1 true EP3816651B1 (fr) 2024-05-15

Family

ID=69187855

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20204697.5A Active EP3816651B1 (fr) 2019-10-31 2020-10-29 Procédé utilisant une bande ultra large (uwb) et un système uwb pour déterminer l'emplacement d'un objet à l'intérieur d'un environnement de culture de plantes

Country Status (4)

Country Link
US (1) US11750240B2 (fr)
EP (1) EP3816651B1 (fr)
CN (1) CN112748396A (fr)
NL (1) NL2024132B1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2033204B1 (en) 2022-09-30 2024-04-17 Florinco B V Method for determining a position of an object in a building

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7854108B2 (en) * 2003-12-12 2010-12-21 Vision Robotics Corporation Agricultural robot system and method
US8078190B2 (en) * 2005-07-14 2011-12-13 Binj Laboratories, Inc. Systems and methods for detection of transmission facilities
US20130124239A1 (en) * 2011-11-15 2013-05-16 Uriel Rosa Crop yield per location measurer
EP2866528A1 (fr) * 2013-10-22 2015-04-29 Heliospectra AB Gestion basée sur la position d'un système d'éclairage artificiel
CN109491395A (zh) * 2018-12-24 2019-03-19 山东农业大学 温室自主作业导航控制装置、方法及控制器
CN109451435A (zh) * 2018-12-24 2019-03-08 山东农业大学 一种温室内作业机具定位方法、系统及终端

Also Published As

Publication number Publication date
EP3816651A1 (fr) 2021-05-05
US20210135705A1 (en) 2021-05-06
US11750240B2 (en) 2023-09-05
CN112748396A (zh) 2021-05-04
NL2024132B1 (en) 2021-07-19

Similar Documents

Publication Publication Date Title
JP6370899B2 (ja) 少なくとも１つの動作区域内の少なくとも１つのガーデニングツールの動作を監視および制御するシステム
US8381501B2 (en) Agricultural robot system and method
US11601587B2 (en) System and method for monitoring plants in plant growing areas
US11656624B2 (en) Horticulture aided by autonomous systems
US20070185749A1 (en) Method for tracking hand-harvested orchard crops
CN109240304A (zh) 一种精确种植系统及方法
CN113608551A (zh) 无人农机群协同系统及其应用方法
US20230165181A1 (en) Systems and methods for monitoring plants in plant growing areas
JP2012191903A (ja) 植物選別装置、ロボット、植物栽培システム、植物選別方法、及びプログラム
US11730089B2 (en) Horticulture aided by autonomous systems
SE2051335A1 (en) Method and system for remote or autonomous ligno transportation
EP3816651B1 (fr) Procédé utilisant une bande ultra large (uwb) et un système uwb pour déterminer l'emplacement d'un objet à l'intérieur d'un environnement de culture de plantes
CN114998767A (zh) 一种沃柑田间农事信息采集方法
CN113487233A (zh) 一种山地果树采摘智能管理系统及运行方法
JP7223977B2 (ja) 収穫ロボットシステム
US20220046859A1 (en) System and method for selective harvesting at night or under poor visibility conditions, night dilution and agriculture data collection
US20230200312A1 (en) Method and system for remote or autonomous tree harvesting
US20220183216A1 (en) An above and below ground autonomous sensor system for crop management
WO2018154260A1 (fr) Entretien d'une pluralité de plantes
CN206821214U (zh) 一种基于北斗卫星的智能播种作业系统
KR102545118B1 (ko) 식재도를 이용한 과수원의 관리 방법 및 시스템
GB2541868A (en) Maintenance of a plurality of plants
CA3177548A1 (fr) Procede et systeme de transport de materiau lignocellulosique a distance ou autonome
CN114868591A (zh) 在南疆地区采用梨园生草的绿色种植方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20211104

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20240105

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020030869

Country of ref document: DE